User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 68
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5.2.16 Object 208C
h
: Velocity Dimension Index
With this object different units can be chosen:
- Writing 0 selects internal units.
- Writing 164 sets RPM for velocity and RPM/s for acceleration.
- Writing 181 sets PPS for velocity and PPS/s for acceleration.
This can only be changed in SWITCHED_ON_DISABLED mode.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
208C
h
Velocity dimension index
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0, 164, 181
0
When using PPS units the full velocity range cannot be used in velocity mode. Use profile velocity mode
instead.
5.2.17 Object 208E
h
: Acceleration Dimension Index
With this object, the unit for acceleration can be read out. The unit can be set using object 208C
h
.
Object 208E
h
reads 0 when internal units are selected. It reads 177 when RPM/s is selected, and the value
for PPS/s is 179.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
208E
h
Acceleration dimension
index
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
no
0, 177, 179
0
5.2.18 Object 2092
h
: Chopper Blank Time
This object serves for selecting the comparator blank time. This time needs to safely cover the switching
event and the duration of the ringing on the sense resistor. For low current drivers, a setting of 1 or 2 is
good. For higher current applications a setting of 2 or 3 will be required.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2092
h
Chopper blank time
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 3
2